List of Master Alumni

Fields, Anthony
Liu, S. Wing
Li, Dong
Kuo, Tong-Yuan Andrew
Ito, Osamu
Blume, Karl
Gutz, Dave
Blacker, Steven Jay
Buitrago Barrientos, Jaime H.
Friedman, Marina
Nam, Ho Jong
Klobucher, Mark
Yahiaoui, Mohamed
Leung, Yat-Fai
Di Lorenzo, Dan
Kondo, Fumio
Fuhlbrigge, Thomas
McMahon, Elihu
Vithiananthan Inpachelvan
Schultze, Oliver
Bobbett, James E
Hawkey, Timothy
Gaffney, Monique S.
Shortlidge, Charles
Sullivan, Jeanne
Humberger, Reiner
Ebesu, Dean
Schalm, Klaus
Beck, Douglas
DeAngelis, Alfredo
Wu, Warren
Khan, Yusaf
Davies, Dave
Shao, Yi-Chung
Ardini, John
Gort, Jim
Carey, John
Yeh, Ting-Jen
Wetzel, John
Espinoza, Luis
Berkelman, Peter
Sasage, Yoshihiro
Mai, Bradley
Huang, Shih-Ying
Rubin,Joan S.
Monaghan, Matthew
Mark, Stephen
Ma, Calvin
Rodriguez, Pablo
Chow, Irene
 
Gjeltema, Paul
Bendana, Yuri
Schulze-Lauen, Henning
Pahng, Jason
Bae, Jungmok Mitchell
Shana’a, Adeeb W.M.
Kwok, Tarzen
Scott, Eric
Crawford, Douglas
B ̈ohler, Harald
Orbak, Ali Yurdun
Branton, Richard Khalil-Lateef
Chiu, Cheng-Jung
Tjahjono, Benny Wahjudi
Leon, Agustin
Van de Straete, Herman Jan
Wong, Francis
Hubbard, Gregory A.
Lovelace, Edward Carl Francis
Choi, Henry
Yang, Clara
Chow, Terence
Schaefer, Stuart
Yeh, Ting-Jeh
Mollica, Rosario
Castaneda-Vega, Jose
Adams, Douglas
Barrett, Lawrence
Ortiz, Luis
Kubota, Tetsuya
Abraham, Joseph
Sultan Al-Essa, Fouzi Khalid
Zambri, Razman
Schmidt, Florian
Aumond, Bernardo
Hsiao, Wayne
Roberts, Dave
Saptari, Vidi
Chang, Woo-Sok
Song, Ki
Jon Demerly
Wright, Andrew
Yeo, Yee
Prempraneerach, Pradya
Yilmaz, Namik Kemal
Eric Hoarau
Stancil, Byron Miguel
Helal, Belal
Kiatbaramee, Thanisara
Kawazaki, Junji
 
WANG Shengyong
Hanna, Richard
Partlan, Eric
CAO Zhe
XU Qing
KEH Teng Yang
DU Xian
WANG Xiaobo
Sunil BHANDARI
Elmouelhi, Ahmed
El-Rifai, Khalid
Micheletti, David
Maya VENKATARAMANI
Vignesh EZHILARASAN
XU Xin
YANG Cheng
GUO Xun
Johanes CANDRA
SIEW Kok Ewe
ZHANG Meiqing
Gerez, David
Guterrez, Maurico
FANG Lishan
MOHAMED S/O Abdul Rafiq Rasheed
Suwandi CHENDEKIAWAN
WEE Boon Kiat
Marsellus Yohz HENDRYANTO
MENG Fanming
Rawther Ashiqul HAMEED
Susanto FADJARAY
Burns, Daniel
Thomas-II, Anthony
Kaya, Omur
Killian, Lauren
Sameer SYED MOHIDEEN
Sivaraman RAJAGOPALAN
WU Quansheng
POH Yang Liang
Adam Wahab
Kwang Lim
Dimitris Chatzigeorgiou
Cynthia Walker-Panas,
Changrak Choi
H. M. Abdelhalim
David Donghyun Kim
 

Leak Detection System For City Water Distribution Systems

Today’s cities lose 20-30% of its drinking water due to pipe leaks.  Many of these leaks are too small to be noticed from the street level, and result in a large volume of water that is unaccounted for.  Other times, they fail catastrophically and result in flooding and large water losses. In the Mechatronics Research Lab, we have created a robot that is capable of scanning pipe walls autonomously, reporting back estimates for where leaks are located within the pipe.

In addition to building this robot, we research how the pipe interior can be cleaned, and how existing leaks can be repaired without cutting access to the water supply.  In addition, we will investigate ways to instrument pipes so that they are able to detect when they are about to fail.

On a larger scale, we are interested in pipe networks, developing algorithms to monitor and operate pipe networks in the most efficient manner.  We also want to develop a way to recharge robots within the pipe so they can sustain themselves for long-term missions.

AFM team won 2014 National Instruments Engineering Impact Awards

‘Iman Soltani Bozchalooi and Andrew Houck won the Advanced Research category at the 2014 National Instruments Engineering Impact Awards’

Iman Bozchalooi, Andrew Houck and Professor Youcef-Toumi traveled to Austin at the beginning of August to attend the 2014 NIWeek conference. The AFM team’s research work was recognized at NI’s Engineering Impact Awards. This annual competition honors the most innovative applications that use NI products, and received more than 100 submissions this year.

Their research work, titled “Building the World’s Largest Range High-Speed Atomic Force Microscope,” was the winner in the Advanced Research category. Professor Youcef-Toumi spoke about the project at the Thursday Keynote presentation.

Congratulations, AFM team!

More information about the project and keynote presentation can be found at the following links:

Building the World’s Largest Range, High-Speed Atomic Force Microscope:

http://sine.ni.com/cs/app/doc/p/id/cs-16254

 

Leak Detection(NEW)

Projects in the robotics category:

  • Biomimetics: Robotic Stingrays Biomimetics: Robotic Stingrays
  • Biomimetics: Robotic fish Biomimetics: Robotic fish
  • In-Pipe Leak Detection In-Pipe Leak Detection
  • Inspection Robots: Robots for Inspecting Liquefied Natural Gas Storage Tanks Inspection Robots: Robots for Inspecting Liquefied Natural Gas Storage Tanks
  • Optical Assembly Station Optical Assembly Station
  • Palletizing Robots Palletizing Robots
  • High Speed Direct-Drive Robots High Speed Direct-Drive Robots

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Development of Micro AUVs for Pipe Inspection

Projects in the robotics category:

  • Biomimetics: Robotic Stingrays Biomimetics: Robotic Stingrays
  • Biomimetics: Robotic fish Biomimetics: Robotic fish
  • In-Pipe Leak Detection In-Pipe Leak Detection
  • Inspection Robots: Robots for Inspecting Liquefied Natural Gas Storage Tanks Inspection Robots: Robots for Inspecting Liquefied Natural Gas Storage Tanks
  • Optical Assembly Station Optical Assembly Station
  • Palletizing Robots Palletizing Robots
  • High Speed Direct-Drive Robots High Speed Direct-Drive Robots

 

 

Robot Design

 Robot Prototype

 

A tetherless robot is developed for maneuvering inside 4-inch-diameter (10 cm) pipe networks. This ellipsoidal micro drone is capable of path following and making very tight turns. It will be used to carry leak sensors into water distribution networks and perform high speed, full coverage leak detection in every branch of the pipes.

Published in IROS 2015 paper

 

 

Swimming speed and turning radius are important measures of robot maneuverability. A test run in the open water shows that the robot is very good at maneuvering in water. It can swim easily at 1.3 ft/s (0.4m/s or about 5 body length/s) and turns at a 0.6 inch radius of curvature (1.5 cm or less than 0.2 body length).

 

RIM Propeller

 

 

The robot is actuated by a pair of RIM driven propellers. It is a brushless DC motor with its rotor replaced by a hubless propeller. Each motor-propeller assembly is measured to be 1.3 inch (33mm) in diameter and less than 0.5 inch (12mm) in thickness. This compact actuator is able to generate 0.4N of thrust given a 7.4V, 1A power supply.

Published in DSCC 2014 paper

 RIM propeller and a quarter

 

 

Downloads: IIR Filter Tutorial

Fixed Point Implementation of IIR filters on FPGA targets: A Tutorial
Supplementary MATLAB and Labview files
Iman Soltani Bozchalooi, Jan, 2014

Matlab

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LabVIEW

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Internal Reports

1. MIT-MRL-2013-01: Multi-Actuation for High Speed Atomic Force Microscopy. Iman Bozchalooi, Kamal Youcef-Toumi. June 2012.

2. MIT-MRL-2013-02: Design of Omnidirectional In-Pipe Maneuverable Vehicle. You Wu, Kamal Youcef-Toumi. October 2013.

3. MIT-MRL-2013-03: Modelling An In-pipe Maneuverable Platform. You Wu, Dimitris Chatzigeorgiou, Kamal Youcef-Toumi. October 2013

4. MIT-MRL-2013-04: Instantaneous demodulation based on Teager Energy Operator (TEO) for dynamic atomic force microscopy. Iman Bozchalooi, Kamal Youcef-Toumi. 2013.